# https://www.jianshu.com/p/82613347c350

import smbus
import math
import time

# 电源管理寄存器地址

power_mgmt_1 = 0x6b
power_mgmt_2 = 0x6c

def read_byte(adr):
    return(bus.read_byte_data(address, adr))


def read_word(adr):
    high = bus.read_byte_data(address, adr)
    low = bus.read_byte_data(address, adr+1)
    val = (high << 8) + low
    return val

def read_word_2c(adr):
    val = read_word(adr)
    if (val >= 0x8000):
        return -((65535 - val) + 1)
    else:
        return val

def dist(a,b):
    return math.sqrt((a*a)+(b*b))
    #math.sqrt(x) 方法返回数字x的平方根

def get_y_rotation(x,y,z):
    radians = math.atan2(x, dist(y,z))
    #math.atan2(y, x) 返回给定的 X 及 Y 坐标值的反正切值
    return -math.degrees(radians)
    #math.degrees(x) 将弧度x转换为角度

def get_x_rotation(x,y,z):
    radians = math.atan2(y, dist(x,z))
    return math.degrees(radians)


bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
address = 0x68 # This is the address value read via the i2cdetect command
# Now wake the 6050 up as it starts in sleep mode
bus.write_byte_data(address, power_mgmt_1, 0)


while True:
    time.sleep(0.1)
    print (' ')
    temp_out = read_word_2c(0x41)
    print ("温度传感器")
    print ("temperature: ", temp_out / 340 + 36.53)
    gyro_xout = read_word_2c(0x43)
    gyro_yout = read_word_2c(0x45)
    gyro_zout = read_word_2c(0x47)
    print ("XYZ轴陀螺仪计数值,每秒的旋转度数")
    print ("gyro_xout : ", gyro_xout, " scaled: ", (gyro_xout / 131)) #倍率250/s
    print ("gyro_yout : ", gyro_yout, " scaled: ", (gyro_yout / 131))
    print ("gyro_zout : ", gyro_zout, " scaled: ", (gyro_zout / 131))
    accel_xout = read_word_2c(0x3b)
    accel_yout = read_word_2c(0x3d)
    accel_zout = read_word_2c(0x3f)
    accel_xout_scaled = accel_xout / 16384.0 #倍率2g
    accel_yout_scaled = accel_yout / 16384.0
    accel_zout_scaled = accel_zout / 16384.0
    print ("XYZ轴加速度计数值,每秒的旋转度数")
    print ("accel_xout: ", accel_xout, " scaled: ", accel_xout_scaled)
    print ("accel_yout: ", accel_yout, " scaled: ", accel_yout_scaled)
    print ("accel_zout: ", accel_zout, " scaled: ", accel_zout_scaled)
    print ("XY轴旋转度数")
    print ("x rotation: " , get_x_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
    print ("y rotation: " , get_y_rotation(accel_xout_scaled, accel_yout_scaled, accel_zout_scaled))
    time.sleep(0.5)